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Copter: add Y6 with all top props CW 

Set FRAME parameter to 10
This commit is contained in:
Randy Mackay 2013-12-03 23:22:14 +09:00
parent 58735ac1aa
commit 8149b54807
2 changed files with 22 additions and 8 deletions
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24
libraries/AP_Motors/AP_MotorsY6.cpp
View File

@ -28,11 +28,21 @@ void AP_MotorsY6::setup_motors()
// call parent
AP_MotorsMatrix::setup_motors();
// MultiWii set-up
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) {
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}else{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}
}

6
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -38,6 +38,10 @@
#define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2
#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
#define AP_MOTORS_NEW_PLUS_FRAME 10 // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front
#define AP_MOTORS_NEW_X_FRAME 11
#define AP_MOTORS_NEW_V_FRAME 12
#define AP_MOTORS_NEW_H_FRAME 13 // same as X frame but motors spin in opposite direction
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
@ -146,7 +150,7 @@ protected:
// flag bitmask
struct AP_Motors_flags {
uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed
uint8_t frame_orientation : 2; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3
uint8_t frame_orientation : 4; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME
uint8_t slow_start : 1; // 1 if slow start is active
uint8_t slow_start_low_end : 1; // 1 just after arming so we can ramp up the spin_when_armed value
} _flags;